Systems and methods for autonomous docking of pool cleaners

Abstract

A self-propelled pool cleaner may be operable in a swimming pool or spa. Systems and methods may allow for the pool cleaner to find or locate a docking station within the swimming pool or spa, may allow the pool cleaner to properly dock with the docking station, and/or may allow for the pool cleaner to navigate to a docking station from anywhere within the pool. Docking of the pool cleaner with the docking station may not require physical handling by a user or pool owner.

That which is claimed: 
     
         1 . A method of controlling a self-propelled pool cleaner, the method comprising:
 receiving visual data from a camera of a field of view of a location within a swimming pool or spa;   determining if a target object or characteristic is within the field of view based on the visual data; and   generating a navigation signal for controlling the pool cleaner to navigate toward a docking station for the pool cleaner based on the target object or characteristic being within the field of view.   
     
     
         2 . The method of  claim 1 , wherein the camera is on or associated with the docking station, and wherein the target object or characteristic is on the pool cleaner, and wherein generating the navigation signal comprises sending, by the docking station, a navigation signal to the pool cleaner for causing the pool cleaner to navigate to the docking station. 
     
     
         3 . The method of  claim 1 , wherein the camera is on or associated with the pool cleaner, and wherein the target object or characteristic is on the docking station, and wherein generating the navigation signal comprises navigating, by the pool cleaner, toward the location comprising the target object or characteristic in the field of view. 
     
     
         4 . The method of  claim 1 , wherein the target object or characteristic comprises one or more of a shape, a graphic, a color, an image, a display, a visual pattern, a light color, a light shape, a light blinking frequency, a material, debris, or combinations thereof. 
     
     
         5 . The method of  claim 1 , wherein generating the navigation signal comprises:
 causing the pool cleaner to navigate into a docking region of the pool comprising the docking station pursuant to a macro approach protocol; and   after the pool cleaner is in the docking region, causing the pool cleaner to navigate onto the docking station pursuant to a final approach protocol, wherein the final approach protocol is different from the macro approach protocol.   
     
     
         6 . The method of  claim 1 , wherein the camera is on or associated with the pool cleaner, wherein the target object or characteristic is a surface of the docking station, and wherein the method further comprises:
 identifying, based on the visual data, a visual guide on the surface of the docking station, the visual guide comprising a guide characteristic; and   determining a navigation control for the pool cleaner based on the guide characteristic.   
     
     
         7 . The method of  claim 1 , further comprising:
 estimating or determining by a pool cleaner a location of the pool cleaner within a swimming pool or spa; and   determining one or more docking paths to a docking region comprising a docking station based on the estimated or determined location,   wherein generating the navigation signal comprises causing the pool cleaner to travel along a selected docking path of the one or more docking paths based on the selected docking path meeting a predefined criteria.   
     
     
         8 . The method of  claim 1 , further comprising:
 obtaining, by a sensor onboard the pool cleaner, one or more radiation signals from one or more locations within a swimming pool or spa, each having a signal characteristic, wherein the one or more radiation signals comprises an optical signal, an acoustic signal, or a magnetic or electromagnetic signal; and   comparing each signal characteristic with a predefined signal characteristic corresponding to the docking station; and   wherein generating the navigation signal comprises causing the pool cleaner to navigate to a location of the one or more locations comprising the radiation signal with the signal characteristic matching the predefined signal characteristic.   
     
     
         9 . A pool system comprising:
 at least one camera; and   at least one processor operably connected to the at least one camera and configured to receive visual data from the at least one camera, wherein the visual data comprises a field of view of a location within a swimming pool or spa, and wherein the at least one processor is further configured to:
 determining if a target object or characteristic is within the field of view based on the visual data; and 
 generating a navigation signal for controlling a pool cleaner to navigate toward a docking station for the pool cleaner based on the target object or characteristic being within the field of view. 
   
     
     
         10 . The pool system of  claim 9 , wherein the camera is on or associated with the docking station, and wherein the target object or characteristic is on the pool cleaner, and wherein generating the navigation signal comprises sending, by the docking station, a navigation signal to the pool cleaner for causing the pool cleaner to navigate to the docking station. 
     
     
         11 . The pool system of  claim 9 , wherein the camera is on or associated with the pool cleaner, and wherein the target object or characteristic is on the docking station, and wherein generating the navigation signal comprises navigating, by the pool cleaner, toward the location comprising the target object or characteristic in the field of view. 
     
     
         12 . The pool system of  claim 9 , wherein the camera is on or associated with the pool cleaner, wherein the target object or characteristic is a surface of the docking station, and wherein the at least one processor is further configured to:
 identify, based on the visual data, a visual guide on the surface of the docking station, the visual guide comprising a guide characteristic; and   determine a navigation control for the pool cleaner based on the guide characteristic.   
     
     
         13 . The pool system of  claim 9 , further comprising the docking station, wherein the docking station comprises:
 a dock configured to receive the pool cleaner; and   a beacon configured to generate a beacon signal detectable by the pool cleaner, wherein the beacon is spaced apart from and connected to the dock.   
     
     
         14 . The pool system of  claim 9 , wherein the at least one processor is configured to control the pool cleaner by:
 causing the pool cleaner to navigate into a docking region of the pool comprising the docking station pursuant to a macro approach protocol; and   after the pool cleaner is in the docking region, causing the pool cleaner to navigate onto the docking station pursuant to a final approach protocol, wherein the final approach protocol is different from the macro approach protocol.   
     
     
         15 . A non-transitory computer readable storage medium comprising a plurality of instructions executable by one or more processors, the plurality of instructions comprising instructions which, when executed by the one or more processors, cause the one or more processors to perform actions comprising:
 receiving visual data from a camera of a field of view of a location within a swimming pool or spa;   determining if a target object or characteristic is within the field of view based on the visual data; and   generating a navigation signal for controlling a pool cleaner to navigate toward a docking station for the pool cleaner based on the target object or characteristic being within the field of view.   
     
     
         16 . The non-transitory computer readable storage medium of  claim 15 , wherein the camera is on or associated with the docking station, wherein the target object or characteristic is on the pool cleaner, and wherein the instructions further comprise instructions which, when executed on the one or more data processors, cause the one or more data processors to perform actions comprising generating the navigation signal by sending, by the docking station, a navigation signal to the pool cleaner for causing the pool cleaner to navigate to the docking station. 
     
     
         17 . The non-transitory computer readable storage medium of  claim 15 , wherein the camera is on or associated with the pool cleaner, wherein the target object or characteristic is on the docking station, and wherein the instructions further comprise instructions which, when executed on the one or more data processors, cause the one or more data processors to perform actions comprising generating the navigation signal comprises navigating, by the pool cleaner, toward the location comprising the target object or characteristic in the field of view. 
     
     
         18 . The non-transitory computer readable storage medium of  claim 15 , wherein the instructions further comprise instructions which, when executed on the one or more data processors, cause the one or more data processors to perform actions comprising:
 causing the pool cleaner to navigate into a docking region of the pool comprising the docking station pursuant to a macro approach protocol; and   after the pool cleaner is in the docking region, causing the pool cleaner to navigate onto the docking station pursuant to a final approach protocol, wherein the final approach protocol is different from the macro approach protocol.   
     
     
         19 . The non-transitory computer readable storage medium of  claim 15 , wherein the instructions further comprise instructions which, when executed on the one or more data processors, cause the one or more data processors to perform actions comprising:
 identifying, based on the visual data, a visual guide on a surface of the docking station, the visual guide comprising a guide characteristic; and   determining a navigation control for the pool cleaner based on the guide characteristic.   
     
     
         20 . The non-transitory computer readable storage medium of  claim 15 , wherein the instructions further comprise instructions which, when executed on the one or more data processors, cause the one or more data processors to perform actions comprising:
 estimating or determining a location of the pool cleaner within the swimming pool or spa; and   determining one or more docking paths to a docking region comprising the docking station based on the estimated or determined location,   wherein generating the navigation signal comprises causing the pool cleaner to travel along a selected docking path of the one or more docking paths based on the selected docking path meeting a predefined criteria.